From 57a43eb5f8051d68f1f810bf5dd23fafeced3f6b Mon Sep 17 00:00:00 2001 From: mixxlto Date: Thu, 12 Feb 2026 14:47:29 -0800 Subject: [PATCH] ready to test!!! hoorrayy --- src/main/java/frc/robot/subsystems/turret/Turret.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 95a731a..7e15e4b 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -51,7 +51,8 @@ public class Turret extends SubsystemBase implements TurretIO{ private static final double MIN_ANGLE_RAD = Units.degreesToRadians(-90); // Change this later to the actual values private static final double MAX_ANGLE_RAD = Units.degreesToRadians(90); - private static final double MAX_VEL_RAD_PER_SEC = 25; + //private static final double MAX_VEL_RAD_PER_SEC = 25; + private static final double MAX_VEL_RAD_PER_SEC = 3.0; // Starting super duper slow for now private static final double MAX_ACCEL_RAD_PER_SEC2 = 160.0; private static final double GEAR_RATIO = TurretConstants.TURRET_GEAR_RATIO; @@ -238,7 +239,8 @@ public class Turret extends SubsystemBase implements TurretIO{ motor.getPosition().getValue().in(edu.wpi.first.units.Units.Radians), motorSetpointPosition); - targetVelocity += Units.rotationsToRadians(motorVelRotPerSec); + //targetVelocity += Units.rotationsToRadians(motorVelRotPerSec); // TODO: Change this back after full rotation + targetVelocity += Math.abs(setpoint.position) != Math.PI/2 ? Units.rotationsToRadians(motorVelRotPerSec) : 0; double voltage = feedForward.calculate(targetVelocity); -- 2.39.5